version: 66.08
glider: 176
mission: 2
dive: 82
start: 9 28 110 16 13 23
data:
$ID,176
$MISSION,2
$DIVE,82
$N_DIVES,95
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,110
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51802
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,610
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4841.2954
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2590
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,45
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3027
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.249977
$PRESSURE_SLOPE,0.0001162977
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00432827
$SEABIRD_T_H,0.00062557345
$SEABIRD_T_I,2.4575895e-05
$SEABIRD_T_J,2.763237e-06
$SEABIRD_C_G,-10.125947
$SEABIRD_C_H,1.1501343
$SEABIRD_C_I,-0.00052266428
$SEABIRD_C_J,0.00012672807
$GPS1,280910,160902,2315.974,12555.968,13,1.3,13,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.0
$GPS2,280910,161256,2315.979,12555.948,15,1.3,15,-3.4
$SPEED_LIMITS,0.262,0.357
$TGT_NAME,WAKE2
$TGT_LATLONG,2300.000,12600.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,163.8,30389,-20.3,-15.152
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-219.0,0.0,0.0,0,90,0.00,0.00,-72.95,0.000,2,0.000,0.000,202,2355,2744,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.9,-8.0,9,127,8.65,2.22,-19.80,0.000,4,0.250,0.049,2355,869,3923,0,0,0,0,0,0
$GC,216,-0.71,-219.0,49.3,-28.6,28,225,0.00,2.28,0.00,0.000,6,0.000,0.050,2355,2340,3925,0,0,0,0,0,0
$GC,579,-0.70,-219.0,154.9,-26.2,89,587,0.08,2.15,0.00,0.000,4,0.224,0.059,2372,3760,3927,0,0,0,0,0,0
$GC,709,-0.71,-219.0,180.6,-15.4,111,717,0.05,2.12,0.00,0.000,6,0.174,0.031,2332,2272,3927,0,0,0,0,0,0
$GC,1055,-0.70,-219.0,268.0,-24.8,172,1064,0.15,2.30,0.00,0.000,4,0.176,0.056,2374,3758,3927,0,0,0,0,0,0
$GC,1145,-0.71,-219.0,283.2,-12.1,187,1154,0.08,2.12,0.00,0.000,6,0.125,0.029,2321,2262,3927,0,0,0,0,0,0
$GC,1485,-0.70,-219.0,360.6,-21.9,225,1489,0.17,2.30,0.00,0.000,4,0.160,0.057,2373,3762,3927,0,0,0,0,0,0
$GC,1537,-0.72,-219.0,369.3,-12.2,229,1542,0.08,2.10,0.00,0.000,6,0.125,0.031,2318,2272,3927,0,0,0,0,0,0
$GC,1863,-0.71,-219.0,433.3,-20.3,259,1865,0.17,0.00,0.00,0.000,6,0.158,0.000,2371,2265,3926,0,0,0,0,0,0
$GC,2182,-0.72,-219.0,473.5,-11.4,289,2186,0.08,2.28,0.00,0.000,4,0.130,0.057,2319,3762,3925,0,0,0,0,0,0
$GC,2251,-0.73,-219.0,482.2,-12.4,295,2256,0.15,2.10,0.00,0.000,6,0.135,0.031,2370,2270,3924,0,0,0,0,0,0
$STATE,2428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2428,begin apogee
$GC,2432,-0.11,0.0,500.2,9.8,311,2605,0.52,0.15,164.80,0.831,6,0.109,0.082,2560,2141,3027,0,0,0,0,0,0
$STATE,2605,end apogee,CONTROL_FINISHED_OK
$STATE,2606,begin climb
$GC,2607,0.72,219.0,506.8,0.0,325,2785,0.68,2.30,170.82,0.816,4,0.039,0.042,2869,666,2133,0,0,0,0,0,0
$GC,3026,0.70,219.0,448.0,19.1,360,3036,0.17,2.20,0.00,0.000,6,0.161,0.037,2813,2117,2124,0,0,0,0,0,0
$GC,3354,0.69,219.0,396.3,15.5,391,3357,0.00,2.10,0.00,0.000,4,0.000,0.050,2813,3529,2121,0,0,0,0,0,0
$GC,3386,0.67,219.0,389.9,18.5,393,3394,0.05,2.17,0.00,0.000,6,0.190,0.034,2804,2068,2120,0,0,0,0,0,0
$GC,3712,0.68,231.1,340.0,14.6,424,3727,0.00,2.15,8.90,0.652,4,0.000,0.045,2814,655,2083,0,0,0,0,0,0
$GC,3855,0.67,231.1,317.6,16.1,436,3864,0.03,2.20,0.00,0.000,6,0.187,0.039,2804,2120,2080,0,0,0,0,0,0
$GC,4196,0.66,231.1,264.8,15.8,487,4203,0.00,2.10,0.00,0.000,4,0.000,0.050,2804,3539,2078,0,0,0,0,0,0
$GC,4223,0.66,238.3,260.9,14.8,491,4240,0.05,2.12,6.55,0.573,6,0.249,0.034,2800,2059,2054,0,0,0,0,0,0
$GC,4582,0.69,265.6,213.7,13.9,553,4612,0.08,2.10,22.65,0.645,4,0.128,0.044,2859,654,1942,0,0,0,0,0,0
$GC,4653,0.68,265.6,201.5,17.2,564,4662,0.15,2.22,0.00,0.000,6,0.145,0.039,2808,2127,1938,0,0,0,0,0,0
$GC,5000,0.69,274.7,151.2,14.7,625,5015,0.00,2.20,8.00,0.537,4,0.000,0.043,2816,659,1905,0,0,0,0,0,0
$GC,5100,0.77,338.0,137.9,12.2,641,5159,0.05,2.20,50.72,0.597,6,0.075,0.038,2871,2121,1648,0,0,0,0,0,0
$GC,5508,0.79,363.1,68.2,14.0,708,5533,0.12,0.00,19.40,0.530,6,0.175,0.000,2835,2122,1545,0,0,0,0,0,0
$GC,5883,0.99,515.6,33.1,8.1,771,6006,0.22,2.28,114.28,0.507,4,0.060,0.044,2953,659,926,0,0,0,0,0,0
$STATE,6036,end climb,SURFACE_DEPTH_REACHED
$STATE,6036,begin surface coast
$FINISH,0.5,1.019648
$STATE,6050,end surface coast,CONTROL_FINISHED_OK
$STATE,6050,begin surface
$SM_CCo,6066,55.33,0.068,0,0,540,610.06
$SM_GC,1.19,0.00,0.00,55.33,0.000,0.000,0.068,208,2348,540,-7.44,0.65,610.06
$IRIDIUM_FIX,2309.79,12558.71,280910,141447
$TT8_MAMPS,0.026964
$HUMID,49.52
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,12.210
$10V_AH,10.7,9.894
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.850,53.325,566.125,55.325,0.000,29.445,15.875,100.179,0.000,0.000,18.260,1863.190,1398.308,560.519,2442.847,96.650,0.000,1381.576,0.000,2290.870,0.000,0.542,0.000
$DEVICE_MAMPS,250.155,81.855,830.790,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.437,0.000,1674.299,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334064
$DATA_FILE_SIZE,46965,793
$CAP_FILE_SIZE,85311,0
$CFSIZE,260165632,249151488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.243,352.8,1
$GPS,280910,175636,2315.788,12555.791,40,0.9,45,-3.4